/****************************************************************************
 *
 *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file px4_simple_app.c
 * Minimal application example for PX4 autopilot
 *
 * @author Example User <mail@example.com>
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>
#include <math.h>
#include <debug.h>

#include <nuttx/can/can.h>
#include <canutils/canlib.h>

int can_devinit(void)
{
	static bool initialized = false;
	struct can_dev_s *can;
	int ret;

	/* Check if we have already initialized */

	if (!initialized) {
		/* Call stm32_caninitialize() to get an instance of the CAN interface */

		can = stm32_caninitialize(1);

		if (can == NULL) {
			canerr("ERROR:  Failed to get CAN interface\n");
			return -ENODEV;
		}

		/* Register the CAN driver at "/dev/can0" */

		ret = can_register("/dev/can0", can);

		if (ret < 0) {
			canerr("ERROR: can_register failed: %d\n", ret);
			return ret;
		}

		/* Now we are initialized */

		initialized = true;
	}

	return 0;
}

int canlib_setbaud(int fd, int bauds)
{
	int ret;
	struct canioc_bittiming_s timings;

	ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)&timings);
	if (ret != OK)
	{
	canerr("CANIOC_GET_BITTIMING failed, errno=%d\n", errno);
	return ret;
	}

	timings.bt_baud = bauds;

	ret = ioctl(fd, CANIOC_SET_BITTIMING, (unsigned long)&timings);
	if (ret != OK)
	{
	canerr("CANIOC_SET_BITTIMING failed, errno=%d\n", errno);
	}

	return ret;
}

__EXPORT int my_simple_can_main(int argc, char *argv[]);

int my_simple_can_main(int argc, char *argv[])
{
	can_devinit();

	int fd = open("/dev/can0", O_RDWR);
	if (fd < 0) {
		PX4_INFO("FAILED TO OPEN /dev/can0");
		return -1;
	}

	canlib_setbaud(fd, 1000000);
	if (fd < 0) {
		PX4_INFO("FAILED TO SET Baud");
		return -1;
	}

	struct can_msg_s txmsg;
	uint8_t msgdata = 0;
	uint16_t msgid = 512;
	int msgdlc = 8;
	size_t msgsize;
	size_t nbytes;

	txmsg.cm_hdr.ch_id     = msgid;
	txmsg.cm_hdr.ch_rtr    = false;
	txmsg.cm_hdr.ch_dlc    = msgdlc;
	txmsg.cm_hdr.ch_unused = 0;

	for (int i = 0; i < msgdlc; i++)
        {
        	txmsg.cm_data[i] = msgdata + i;
        }

	int cnt = 0;
	while (cnt++ < 5)
	{
		msgsize = CAN_MSGLEN(msgdlc);
		nbytes = write(fd, &txmsg, msgsize);

		if (nbytes != msgsize)
		{
			printf("ERROR: write(%ld) returned %ld\n", (long)msgsize, (long)nbytes);
		}
		else printf("SUCCESSFULL: wirte!\n");

		sleep(1);
	}

	close(fd);

	printf("Terminating!\n");
	fflush(stdout);
	return 0;
}
